INS

Simulate INS sensor

Since R2021b

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Libraries:
Navigation Toolbox / Multisensor Positioning / Sensor Models
Automated Driving Toolbox / Driving Scenario and Sensor Modeling
Sensor Fusion and Tracking Toolbox / Multisensor Positioning / Sensor Models
UAV Toolbox / UAV Scenario and Sensor Modeling

Description

The block simulates an INS sensor, which outputs noise-corrupted position, velocity, and orientation based on the corresponding inputs. The block can also optionally output acceleration and angular velocity based on the corresponding inputs. To change the level of noise present in the output, you can vary the roll, pitch, yaw, position, velocity, acceleration, and angular velocity accuracies. The accuracy is defined as the standard deviation of the noise.

Examples

Simulate INS Block

In this example, you simulate an INS block by using the pose information of a vehicle undertaking a left-turn trajectory.

• Since R2021b
• Open Live Script

Ports

Input

Position — Position of INS sensor

N-by-3 real-valued matrix

Position of the INS sensor relative to the navigation frame, in meters, specified as an N-by-3 real-valued matrix. N is the number of samples.

Data Types: single | double

Velocity — Velocity of INS sensor

N-by-3 real-valued matrix of scalar

Velocity of the INS sensor relative to the navigation frame, in meters per second, specified as an N-by-3 real-valued matrix. N is the number of samples.

Data Types: single | double

Orientation — Orientation of INS sensor

3-by-3-by-N real-valued array | N-by-4 real-valued matrix | N-by-3 matrix of Euler angles

Orientation of the INS sensor relative to the navigation frame, specified as one of these formats:

• A 3-by-3-by-N real-valued array, where each page of the array (3-by-3 matrix) is a rotation matrix.

• An N-by-4 real-valued matrix, where each row of the matrix is the four elements of a quaternion.

• An N-by-3 matrix of Euler angles, where each row of the matrix is the three Euler angles corresponding to the z-y-x rotation convention.

N is the number of samples.

Data Types: single | double

Acceleration — Acceleration of INS sensor

N-by-3 real-valued matrix

Acceleration of the INS sensor relative to the navigation frame, in meters per second squared, specified as an N-by-3 real-valued matrix. N is the number of samples.

Dependencies

To enable this input port, select Use acceleration and angular velocity.

Data Types: single | double

AngularVelocity — Angular velocity of INS sensor

N-by-3 real-valued matrix

Angular velocity of the INS sensor relative to the navigation frame, in degrees per second, specified as an N-by-3 real-valued matrix. N is the number of samples.

Dependencies

To enable this input port, select Use acceleration and angular velocity.

Data Types: single | double

HasGNSSFix — Enable GNSS fix

N-by-1 logical vector

Enable GNNS fix, specified as an N-by-1 logical vector. N is the number of samples. Specify this input as false to simulate the loss of a GNSS receiver fix. When a GNSS receiver fix is lost, position measurements drift at a rate specified by the Position error factor parameter.

Dependencies

To enable this input port, select Enable HasGNSSFix port.

Data Types: single | double

Output

Position — Position of INS sensor

N-by-3 real-valued matrix

Position of the INS sensor relative to the navigation frame, in meters, returned as an N-by-3 real-valued matrix. N is the number of samples in the input.

Data Types: single | double

Velocity — Velocity of INS sensor

N-by-3 real-valued matrix

Velocity of the INS sensor relative to the navigation frame, in meters per second, returned as an N-by-3 real-valued matrix. N is the number of samples in the input.

Data Types: single | double

Orientation — Orientation of INS sensor

3-by-3-by-N real-valued array | N-by-4 real-valued matrix

Orientation of the INS sensor relative to the navigation frame, returned as one of the formats:

• A 3-by-3-by-N real-valued array, where each page of the array (3-by-3 matrix) is a rotation matrix.

• An N-by-4 real-valued matrix, where each row of the matrix is the four elements of a quaternion.

• An N-by-3 matrix of Euler angles, where each row of the matrix is the three Euler angles corresponding to the z-y-x rotation convention.

N is the number of samples in the input.

Data Types: single | double

Acceleration — Acceleration of INS sensor

N-by-3 real-valued matrix

Acceleration of the INS sensor relative to the navigation frame, in meters per second squared, returned as an N-by-3 real-valued matrix. N is the number of samples.

Dependencies

To enable this output port, select Use acceleration and angular velocity.

Data Types: single | double

AngularVelocity — Angular velocity of INS sensor

N-by-3 real-valued matrix

Angular velocity of the INS sensor relative to the navigation frame, in degrees per second, returned as an N-by-3 real-valued matrix. N is the number of samples.

Dependencies

To enable this output port, select Use acceleration and angular velocity.

Data Types: single | double

Parameters

Mounting location (m) — Location of sensor on platform (m)

[0 0 0] (default) | three-element real-valued vector of form [x y z]

Location of the sensor on the platform, in meters, specified as a three-element real-valued vector of the form [x y z]. The vector defines the offset of the sensor origin from the origin of the platform.

Data Types: single | double

Roll (X-axis) accuracy (deg) — Accuracy of roll measurement (deg)

0.2 (default) | nonnegative real scalar

Accuracy of the roll measurement of the sensor body in degrees, specified as a nonnegative real scalar.

Roll is defined as rotation around the x-axis of the sensor body. Roll noise is modeled as white process noise with standard deviation equal to the specified Roll accuracy in degrees.

Data Types: single | double

Pitch (Y-axis) accuracy (deg) — Accuracy of pitch measurement (deg)

0.2 (default) | nonnegative real scalar

Accuracy of the pitch measurement of the sensor body in degrees, specified as a nonnegative real scalar.

Pitch is defined as rotation around the y-axis of the sensor body. Pitch noise is modeled as white process noise with standard deviation equal to the specified Pitch accuracy in degrees.

Data Types: single | double

Yaw (Z-axis) accuracy (deg) — Accuracy of yaw measurement (deg)

1 (default) | nonnegative real scalar

Accuracy of the yaw measurement of the sensor body in degrees, specified as a nonnegative real scalar.

Yaw is defined as rotation around the z-axis of the sensor body. Yaw noise is modeled as white process noise with standard deviation equal to the specified Yaw accuracy in degrees.

Data Types: single | double

Position accuracy (m) — Accuracy of position measurement (m)

1 (default) | nonnegative real scalar | 1-by-3 vector of nonnegative values

Accuracy of the position measurement of the sensor body in meters, specified as a nonnegative real scalar or a 1-by-3 vector of nonnegative values. If you specify the parameter as a scalar value, then the block sets the accuracy of all three position components to this value.

Position noise is modeled as white process noise with a standard deviation equal to the specified Position accuracy in meters.

Data Types: single | double

Velocity accuracy (m/s) — Accuracy of velocity measurement (m/s)

0.05 (default) | nonnegative real scalar

Accuracy of the velocity measurement of the sensor body in meters per second, specified as a nonnegative real scalar.

Velocity noise is modeled as white process noise with a standard deviation equal to the specified Velocity accuracy in meters per second.

Data Types: single | double

Use acceleration and angular velocity — Use acceleration and angular velocity

off (default) | on

Select this check box to enable the block inputs of acceleration and angular velocity through the Acceleration and AngularVelocity input ports, respectively. Meanwhile, the block outputs the acceleration and angular velocity measurements through the Acceleration and AngularVelocity output ports, respectively. Additionally, selecting this parameter enables you to specify the Acceleration accuracy and Angular velocity accuracy parameters.

Acceleration accuracy (m/s²) — Accuracy of acceleration measurement (m/s²)

0 (default) | nonnegative real scalar

Accuracy of the acceleration measurement of the sensor body in meters, specified as a nonnegative real scalar.

Acceleration noise is modeled as white process noise with a standard deviation equal to the specified Acceleration accuracy in meters per second squared.

Dependencies

To enable this parameter, select Use acceleration and angular velocity.

Data Types: single | double

Angular velocity accuracy (deg/s) — Accuracy of angular velocity measurement (deg/s)

0 (default) | nonnegative real scalar

Accuracy of the angular velocity measurement of the sensor body in meters, specified as a nonnegative real scalar.

Angular velocity noise is modeled as white process noise with a standard deviation equal to the specified Angular velocity accuracy in degrees per second.

Dependencies

To enable this parameter, select Use acceleration and angular velocity.

Data Types: single | double

Enable HasGNSSFix port — Enable HasGNSSFix input port

off (default) | on

Select this check box to enable the HasGNSSFix input port. When the HasGNSSFix input is specified as false, position measurements drift at a rate specified by the Position error factor parameter.

Position error factor — Position error factor (m)

[0 0 0] (default) | nonnegative scalar | 1-by-3 real-valued vector

Position error factor without GNSS fix, specified as a scalar or a 1-by-3 real-valued vector. If you specify the parameter as a scalar value, then the block sets the position error factors of all three position components to this value.

When the HasGNSSFix input is specified as false, the position error grows at a quadratic rate due to constant bias in the accelerometer. The position error for a position component E(t) can be expressed as E(t) = 1/2αt², where α is the position error factor for the corresponding component and t is the time since the GNSS fix is lost. The computed E(t) values for the x, y, and z components are added to the corresponding position components of the Position output.

Dependencies

To enable this parameter, select Enable HasGNSSFix port.

Data Types: double

Seed — Initial seed for randomization

67 (default) | nonnegative integer

Initial seed of a random number generator algorithm, specified as a nonnegative integer.

Data Types: single | double

Simulate using — Type of simulation to run

Code Generation (default) | Interpreted Execution

• Interpreted execution — Simulate the model using the MATLAB^® interpreter. This option shortens startup time. In Interpreted execution mode, you can debug the source code of the block.

• Code generation — Simulate the model using generated C code. The first time that you run a simulation, Simulink^® generates C code for the block. The C code is reused for subsequent simulations if the model does not change. This option requires additional startup time.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2021b